US12337465B2 - Enable switch device and load drive control apparatus equipped with same - Google Patents

Enable switch device and load drive control apparatus equipped with same Download PDF

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US12337465B2
US12337465B2 US18/468,717 US202318468717A US12337465B2 US 12337465 B2 US12337465 B2 US 12337465B2 US 202318468717 A US202318468717 A US 202318468717A US 12337465 B2 US12337465 B2 US 12337465B2
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Prior art keywords
state
switch
switch device
enable
operated
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US20240001563A1 (en
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Yasuyuki Tanaka
Kei Aimi
Yasuhiro Kinugasa
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Panasonic Intellectual Property Management Co Ltd
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Panasonic Intellectual Property Management Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/06—Control stands, e.g. consoles, switchboards
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1674—Program controls characterised by safety, monitoring, diagnostic
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39443—Portable, adapted to handpalm, with joystick, function keys, display

Definitions

  • the present disclosure relates to an enable switch device and a load drive control apparatus including the enable switch device.
  • a work of teaching such as initially setting a robot controller and operating a robot is often performed through a teaching pendant provided with a robot controller.
  • a teaching pendant provided with a robot controller.
  • an operator needs to come close to a robot while operating a teaching pendant.
  • a failure of devices including a robot or an operation error made by an operator may cause a serious accident.
  • the teaching pendant is usually equipped with a three-position switch.
  • the robot is emergently stopped by an action of releasing an operation switch or tightly gripping the operation switch, and this secures safety of the operator.
  • Patent Literature 1 discloses an enable device including two three-position switches and two monitor circuits for monitoring the state of the three-position switches. Two monitor devices are connected to two three-position switches, respectively. With such a configuration, even when either of the two monitor circuits is short-circuited, safety of operation is secured.
  • Patent Literature 1 outputs the state of the three-position switch via a plurality of electromagnetic on-off relays.
  • life of the electromagnetic on-off relay is short, and thus the electromagnetic on-off relay has to be replaced very frequently. This disadvantageously increases the cost for replacing components of the enable switch device.
  • An object of the present disclosure is to provide an enable switch device capable of determining an operated state with a simple configuration and detecting a failure in an internal two-position switch, and a load drive control apparatus including the enable switch device.
  • an enable switch device that transitions to a first position that is OFF state when not operated, to a second position that is ON state when mid-operated, and to a third position that is OFF state when full-operated, the enable switch device including at least a first switch, a second switch, and a first signal processor, where each of the first switch and the second switch is a two-position switch, and the first signal processor is configured to determine in which one of the first position, the second position, and the third position an operated state of the enable switch device is, based on an output signal of the first switch and an output signal of the second switch, and detect presence or absence of failure in each of the first switch and the second switch.
  • the load drive control apparatus includes at least the enable switch device and a control device communicatable with the enable switch device.
  • the control device transmits a drive permission signal to a load communicatable with the control device, and when it is determined that the enable switch device is in OFF state, the control device transmits a drive stop signal to the load.
  • an operated state can be determined with a simple configuration.
  • failure in an internal two-position switch can be detected.
  • FIG. 1 is a schematic configuration diagram of a robot system according to a first exemplary embodiment.
  • FIG. 2 is a schematic configuration diagram of a load drive control apparatus.
  • FIG. 3 is a schematic diagram illustrating transition of an operated state of an enable switch device.
  • FIG. 4 is a diagram illustrating a determination result of a first state determination unit.
  • FIG. 5 is a schematic diagram illustrating transition of an operated state of an enable switch device according to a second exemplary embodiment.
  • FIG. 6 is a schematic configuration diagram of a load drive control apparatus according to a third exemplary embodiment.
  • FIG. 7 is a schematic diagram illustrating transition of an operated state of an enable switch device.
  • FIG. 8 is a diagram illustrating determination results of a first state determination unit and a second state determination unit.
  • FIG. 9 is a schematic diagram illustrating transition of an operated state of an enable switch device according to a fourth exemplary embodiment.
  • FIG. 1 is a schematic configuration diagram of a robot system according to the present exemplary embodiment, and robot system 1 includes robot 2 and load drive control apparatus 200 .
  • Load drive control apparatus 200 includes robot controller (control device) 3 and teaching pendant 4 .
  • Robot 2 is a vertical articulated robot, and includes a plurality of robot arms 2 a and a plurality of joint shafts 2 b .
  • Motor M (see FIG. 2 ) is connected to each of the plurality of joint shafts 2 b.
  • Robot controller 3 is a known central processing unit (CPU) or a computer. Robot controller 3 is communicatable with a plurality of motors M. Robot controller 3 controls the operation of each of the plurality of motors M.
  • CPU central processing unit
  • Robot controller 3 controls the operation of each of the plurality of motors M.
  • Teaching pendant 4 is an input device for performing initial setting of robot controller 3 .
  • Teaching pendant 4 is a teaching device for teaching operations of robot 2 .
  • Teaching pendant 4 includes operation switch 4 a and enable switch device 100 (see FIG. 2 ) connected to operation switch 4 a .
  • the internal state of enable switch device 100 changes, corresponding to the operated state of operation switch 4 a . According to the change in the state, robot 2 is permitted to operate and is regulated.
  • robot controller 3 and teaching pendant 4 can exchange data with each other via communication cable 5 .
  • the present invention is not particularly limited to this configuration.
  • Robot controller 3 and teaching pendant 4 may be able to exchange data with each other by wireless communication.
  • FIG. 2 illustrates a schematic configuration diagram of the load drive control apparatus
  • FIG. 3 schematically illustrates transition of the operated state of the enable switch device
  • FIG. 4 illustrates a determination result of a first state determination unit.
  • enable switch device 100 of teaching pendant 4
  • FIG. 2 only enable switch device 100 , of teaching pendant 4 , is illustrated in a form of a circuit diagram.
  • motor M is provided by a number corresponding to the number of joint shafts 2 b .
  • Driving of each motor M is permitted and regulated in response to an output signal of enable switch device 100 .
  • Enable switch device 100 includes first switch SW 1 , second switch SW 2 , and first signal processor 10 .
  • Enable switch device 100 includes power source 30 . Note that, power source 30 may be external to enable switch device 100 .
  • First switch SW 1 and second switch SW 2 are two-position switches, and each have terminals a, b, c.
  • Terminals c are common terminals of first switch SW 1 and second switch SW 2 , and are each connected to power source 30 . That is, first switch SW 1 is connected in parallel with second switch SW 2 .
  • Each of first switch SW 1 and second switch SW 2 switches between a state where terminal c and terminal a are in a conduction state and a state where terminal c and terminal b are in a conduction state by an operation of operation switch 4 a described above.
  • a terminal connected to power source 30 via terminal c becomes high potential (hereinafter, referred to as H potential), and a terminal electrically separated from power source 30 becomes low potential (hereinafter, referred to as L potential).
  • First signal processor 10 is a known CPU or a computer.
  • First signal processor 10 includes at least first signal input unit 11 , first state determination unit 12 , and first state output unit 13 .
  • First signal input unit 11 receives an output signal of each of first switch SW 1 and second switch SW 2 and inputs the output signal to first state determination unit 12 .
  • the output signal of first switch SW 1 is represented by a combination of the potential of terminal a and the potential of terminal b (see FIG. 4 ).
  • the output signal of second switch SW 2 is represented by a combination of the potential of terminal a and the potential of terminal b (see FIG. 4 ).
  • First state determination unit 12 determines the operated state of enable switch device 100 based on the signal input from first signal input unit 11 .
  • First state determination unit 12 detects presence or absence of failure in each of first switch SW 1 and second switch SW 2 based on the signal input from first signal input unit 11 . These will be described later.
  • first state determination unit 12 is implemented by executing predetermined software in first signal processor 10 . That is, first state determination unit 12 is a functional block in first signal processor 10 .
  • First state output unit 13 outputs the operated state of enable switch device 100 based on the determination result of first state determination unit 12 .
  • first switch SW 1 and second switch SW 2 are in OFF state.
  • the operated state of enable switch device 100 is in position 1 .
  • first switch SW 1 is in OFF state when terminal a is in H potential and terminal b is in L potential.
  • first switch SW 1 is in ON state.
  • second switch SW 2 is in OFF state when terminal a is in H potential and terminal b is in L potential.
  • terminal a is in L potential and terminal b is in H potential
  • second switch SW 2 is in ON state.
  • enable switch device 100 When the operated state of enable switch device 100 is in position 1 , enable switch device 100 is in OFF state. First state output unit 13 outputs a signal to robot controller 3 . Since robot controller 3 recognizes that enable switch device 100 is in OFF state, robot controller 3 transmits a drive stop signal to motor M. As a result, drive control of motor M cannot be performed, and robot 2 does not operate.
  • Enable switch device 100 is configured such that first switch SW 1 first transitions to ON state when the operator operates operation switch 4 a .
  • first switch SW 1 When first switch SW 1 is in ON state and second switch SW 2 is in OFF state, as illustrated in FIG. 3 , the operated state of enable switch device 100 is in position 2 . This state is also referred to as a mid-operated state.
  • enable switch device 100 When the operated state of enable switch device 100 is in position 2 , enable switch device 100 is in ON state. First state output unit 13 outputs a signal to robot controller 3 . Since robot controller 3 recognizes that enable switch device 100 is in ON state, robot controller 3 transmits a drive permission signal to motor M. As a result, drive control of motor M can be performed, and robot 2 performs a predetermined operation based on a teach content given by teaching pendant 4 .
  • both first switch SW 1 and second switch SW 2 transition to ON state.
  • operation switch 4 a is gripped tightly.
  • the operated state of enable switch device 100 is in position 3 . This state is also be referred to as a full-operated state.
  • enable switch device 100 When the operated state of enable switch device 100 is in position 3 , enable switch device 100 is in OFF state. First state output unit 13 outputs a signal to robot controller 3 . Since robot controller 3 recognizes that enable switch device 100 is in OFF state, robot controller 3 transmits a drive stop signal to motor M. As a result, drive control of motor M cannot be performed, and robot 2 does not operate.
  • first state determination unit 12 determines that the operated state of enable switch device 100 is neither in positions 1 to 3 .
  • both terminal a and terminal b of first switch SW 1 may be in H potential.
  • a short fault may have occurred between terminal a and terminal b.
  • both terminal a and terminal b of second switch SW 2 may be in L potential.
  • a junction in second switch SW 2 may have stuck and the junction is not in contact with neither of terminal a nor terminal b, that is, an open fault may have occurred.
  • First state determination unit 12 determines presence or absence and the type of failure as described above from output signals of first switch SW 1 and second switch SW 2 .
  • An output signal from first state output unit 13 is information on the operated state of enable switch device 100 . Failure information on each of first switch SW 1 and second switch SW 2 , that is, information on presence or absence and the type of failure is not directly included in the output signal. However, when no failure has occurred in first switch SW 1 or second switch SW 2 , the operated state of enable switch device 100 does not correspond to any of positions 1 to 3 . In such a case, it is determined that enable switch device 100 is in OFF state.
  • robot controller 3 transmits a drive stop signal to motor M. As a result, drive control of motor M cannot be performed, and robot 2 does not operate.
  • Data transmission from first state output unit 13 to robot controller 3 may be made by wired communication or wireless communication.
  • the determination result of first state determination unit 12 may be stored in a storage unit (not illustrated).
  • the storage unit may be external to first signal processor 10 .
  • the information stored in the storage unit includes not only the operated state of enable switch device 100 but also failure information on first switch SW 1 and second switch SW 2 .
  • enable switch device 100 transitions to position 1 (first position) which is OFF state when not operated, to position 2 (second position) which is ON state when mid-operated, and to position 3 (third position) which is OFF state when full-operated.
  • Enable switch device 100 includes at least first switch SW 1 , second switch SW 2 , and first signal processor 10 .
  • Each of first switch SW 1 and second switch SW 2 is a two-position switch.
  • First switch SW 1 is connected in parallel with second switch SW 2 .
  • First signal processor 10 is configured to determine in which one of positions 1 to 3 the operated state of enable switch device 100 is, based on an output signal of each of first switch SW 1 and second switch SW 2 . First signal processor 10 can detect presence or absence of failure in each of first switch SW 1 and second switch SW 2 .
  • the operated state of enable switch device 100 can be determined with a simple configuration. This will avoid the operator falling into a dangerous situation by an erroneous operation made by the operator, for example. In addition, an unintentional operation of robot 2 can be prevented, and robot system 1 can be operated safely.
  • first switch SW 1 and second switch SW 2 provided in enable switch device 100 can be detected easily. This will prevent robot 2 connected to enable switch device 100 from unintentionally operating, and robot system 1 can be operated safely. In addition, replacement and repair of teaching pendant 4 including enable switch device 100 can be performed easily. This will reduce the downtime and operation cost of robot system 1 .
  • First signal processor 10 includes at least first signal input unit 11 , first state determination unit 12 , and first state output unit 13 .
  • First signal input unit 11 receives an output signal of each of first switch SW 1 and second switch SW 2 and inputs the output signal to first state determination unit.
  • First state determination unit 12 determines in which one among positions 1 to 3 the operated state of enable switch device 100 is, based on the signal input from first signal input unit 11 . First state determination unit 12 detects presence or absence of failure in each of first switch SW 1 and second switch SW 2 .
  • First state output unit 13 outputs the operated state of enable switch device 100 to robot controller 3 based on the determination result of first state determination unit 12 . Note that, first state output unit 13 may output failure information on each of first switch SW 1 and second switch SW 2 to robot controller 3 as necessary.
  • first signal processor 10 With such a configuration of first signal processor 10 , the operated state of enable switch device 100 , presence or absence of failure in each of first switch SW 1 and second switch SW 2 , and the like can be determined easily.
  • first signal processor 10 executes predetermined software to determine the operated state of enable switch device 100 , presence or absence of failure in each of first switch SW 1 and second switch SW 2 , and the like. In this manner, the number of relays used can be reduced as compared with the conventional configuration disclosed in Patent Literature 1. Thus, the replacement cycle of enable switch device 100 and also that of teaching pendant 4 can be lengthened. This will also reduce the downtime and operation cost of robot system 1 .
  • Load drive control apparatus 200 includes at least enable switch device 100 and robot controller (control device) 3 .
  • Robot controller 3 is communicatable with enable switch device 100 .
  • robot controller 3 When it is determined that enable switch device 100 is in ON state, robot controller 3 transmits a drive permission signal to motor (load) M that is communicatable with robot controller 3 .
  • robot controller 3 When it is determined that enable switch device 100 is in OFF state, robot controller 3 transmits a drive stop signal to motor M.
  • robot controller 3 permits or regulates driving of motor M, corresponding to the state of enable switch device 100 . This will prevent happening of an accident caused by an operation error made by the operator, for example, and safety of the operator is secured. In addition, an unintentional operation of robot 2 can be prevented, and robot system 1 can be operated safely.
  • robot controller 3 When it is detected that either first switch SW 1 or second switch SW 2 has failed, robot controller 3 transmits a drive stop signal to motor M.
  • This configuration will prevent robot 2 connected to enable switch device 100 from unintentionally operating, and robot system 1 can be operated safely.
  • presence or absence and the type of failure in each of first switch SW 1 and second switch SW 2 can be detected easily.
  • replacement and repair of teaching pendant 4 including enable switch device 100 can be performed easily, and the down time and operation cost of robot system 1 can be reduced.
  • FIG. 5 schematically illustrates transition of the operated state of an enable switch device according to the present exemplary embodiment.
  • the same part as that of the first exemplary embodiment is denoted with the same reference mark, and detailed description thereof will be omitted.
  • Enable switch device 100 of the present exemplary embodiment is different from enable switch device 100 of the first exemplary embodiment in the following points.
  • first state determination unit 12 determines, when transition time T 1 has elapsed after detection of transition of the state, that the operated state of enable switch device 100 has transitioned.
  • first state determination unit 12 determines, when transition time T 1 has elapsed after detection of transition of the state, that the operated state of enable switch device 100 has transitioned.
  • transition time T 1 is set to 24 msec, but the present invention is not particularly limited to this.
  • first state determination unit 12 determines, when transition time T 0 ( ⁇ T 1 ) has elapsed after detection of transition of the state, that the operated state of enable switch device 100 has transitioned.
  • the start timing of driving motor M can be delayed by transition time T 1 from the timing when enable switch device 100 enters into the mid-operated state. This will prevent robot 2 from starting an operation without being noticed by the operator, and safety of the operator can be secured.
  • enable switch device 100 that has transitioned from the mid-operated state to the full-operated state then transitions to the non-operated state.
  • determination that enable switch device 100 has transitioned from the full-operated state to the non-operated state is made after a delay of transition time T 1 .
  • the timing of starting an operation of robot 2 by a subsequent mid-operation can be delayed, and safety of the operator can be enhanced.
  • FIG. 6 illustrates a schematic configuration diagram of a load drive control apparatus according to the present exemplary embodiment
  • FIG. 7 schematically illustrates transition of the operated state of an enable switch device.
  • FIG. 8 illustrates determination results of a first state determination unit and a second state determination unit.
  • enable switch device 100 of teaching pendant 4
  • FIG. 6 only motor M connected to one joint shaft 2 b is illustrated.
  • Enable switch device 100 of the present exemplary embodiment is different from enable switch device 100 of the first exemplary embodiment in the following points.
  • enable switch device 100 includes at least first to fourth switches SW 11 to SW 22 , first signal processor 10 , and second signal processor 20 .
  • First signal processor 10 is configured to determine the state of each of first switch SW 11 and second switch SW 21 . That is, the states of first switch SW 11 and second switch SW 21 , whether ON state or OFF state, are determined. First signal processor 10 detects presence or absence of failure in each of first switch SW 11 and second switch SW 21 .
  • first signal processor 10 includes at least first signal input unit 11 , first state determination unit 12 , and first state output unit 13 . Since the function of first signal input unit 11 is similar to that described in the first exemplary embodiment, description thereof will be omitted.
  • First state determination unit 12 determines the state of each of first switch SW 11 and second switch SW 21 based on a signal input from first signal input unit 11 . That is, the states of first switch SW 11 and second switch SW 21 , whether ON state or OFF state, are determined. First state determination unit 12 detects presence or absence of failure in each of first switch SW 11 and second switch SW 21 based on the signal input from first signal input unit 11 . Presence or absence and the type of failure in each of first switch SW 11 and second switch SW 21 are detected by a method similar to that described in the first exemplary embodiment. For example, when both terminal a and terminal b of first switch SW 11 are in H potential, it is determined that a short fault has occurred in first switch SW 11 . When both terminal a and terminal b of second switch SW 21 are in L potential, it is determined that an open fault has occurred in second switch SW 21 .
  • First state output unit 13 outputs, to robot controller 3 , information on the state of each of first switch SW 11 and second switch SW 21 , that is, information on the states of first switch SW 11 and second switch SW 21 , whether ON state or OFF state, based on the determination result of first state determination unit 12 .
  • first state output unit 13 may output failure information on each of first switch SW 11 and second switch SW 21 to robot controller 3 .
  • second signal processor 20 handles input signals of third switch SW 12 and fourth switch SW 22 .
  • Second signal processor 20 is configured to determine the state of each of third switch SW 12 and fourth switch SW 22 . That is, the states of third switch SW 12 and fourth switch SW 22 , whether ON state or OFF state, are determined. Second signal processor 20 detects presence or absence of failure in each of third switch SW 12 and fourth switch SW 22 .
  • second signal processor 20 includes at least second signal input unit 21 , second state determination unit 22 , and second state output unit 23 .
  • Second signal input unit 21 receives an output signal of each of third switch SW 12 and fourth switch SW 22 and inputs the output signal to second state determination unit 22 .
  • Second state determination unit 22 determines the state of each of third switch SW 12 and fourth switch SW 22 based on the signal input from second signal input unit 21 . That is, the states of third switch SW 12 and fourth switch SW 22 , whether ON state or OFF state, are determined. Second state determination unit 22 detects presence or absence of failure in each of third switch SW 12 and fourth switch SW 22 based on the signal input from second signal input unit 21 .
  • Second state output unit 23 outputs, to robot controller 3 , information on the state of each of third switch SW 12 and fourth switch SW 22 , that is, information on the states of third switch SW 12 and fourth switch SW 22 , whether ON state or OFF state, based on the determination result of second state determination unit 22 .
  • second state output unit 23 may output failure information on each of third switch SW 12 and fourth switch SW 22 to robot controller 3 .
  • Enable switch device 100 determines the operated state of enable switch device 100 based on the determination result of first signal processor 10 and the determination result of second signal processor 20 .
  • first signal processor 10 determines only the state of each of first switch SW 11 and second switch SW 21 .
  • Second signal processor 20 determines only the state of each of third switch SW 12 and fourth switch SW 22 .
  • the operated state of enable switch device 100 is finally determined based on the determination result of first signal processor 10 and the determination result of second signal processor 20 .
  • enable switch device 100 when all first to fourth switches SW 11 to SW 22 are in OFF state, it is determined that the operated state of enable switch device 100 is in position 1 (first position). That is, enable switch device 100 is determined to be in OFF state (non-operated state).
  • enable switch device 100 When first switch SW 11 and third switch SW 12 are in ON state and second switch SW 21 and fourth switch SW 22 are in OFF state, it is determined that the operated state of enable switch device 100 is in position 2 (second position). That is, enable switch device 100 is determined to be in ON state (mid-operated state).
  • enable switch device 100 When all first to fourth switches SW 11 to SW 22 are in ON state, it is determined that the operated state of enable switch device 100 is in position 3 (third position). That is, enable switch device 100 is determined to be in ON state (full-operated state). Note that, the timing at which either second switch SW 21 or fourth switch SW 22 enters into ON state is the timing at which the operated state of enable switch device 100 is determined to be in position 3 .
  • first signal processor 10 and second signal processor 20 are configured to be communicatable with each other.
  • serial communication is performed between first signal processor 10 and second signal processor 20 .
  • first signal processor 10 that has received the determination result of second state determination unit 22 , for example, by first state determination unit 12 .
  • these determinations may be executed by second signal processor 20 that has received the determination result of first state determination unit 12 , for example, by second state determination unit 22 .
  • Another determination unit may be provided in one of first signal processor 10 and second signal processor 20 or in enable switch device 100 . In this case, this determination unit receives the determination result of first signal processor 10 and the determination result of second signal processor 20 , and determines the state of enable switch device 100 .
  • robot controller 3 that has received an output signal of first state output unit 13 and an output signal of second state output unit 23 determines the state of enable switch device 100 .
  • an effect similar to that obtained by the configuration illustrated in the first exemplary embodiment can be obtained. That is, the operated state of enable switch device 100 can be determined with a simple configuration. This will avoid the operator falling into a dangerous situation by an erroneous operation made by the operator, for example. In addition, an unintentional operation of robot 2 can be prevented, and robot system 1 can be operated safely.
  • Enable switch device 100 illustrated in the present exemplary embodiment is a so-called duplex circuit including two sets of combination circuits each including two switches and a signal processor illustrated in the first exemplary embodiment. Enable switch device 100 illustrated in the present exemplary embodiment is configured to correctly determine the operated state of enable switch device 100 only when both the two combination circuits are functioning normally.
  • first signal processor 10 and second signal processor 20 are communicatable with each other.
  • the determination result of first signal processor 10 and the determination result of second signal processor 20 do not match, it is determined that enable switch device 100 is in OFF state.
  • robot controller 3 when it is detected that there is a failure in any one of first to fourth switches SW 11 to SW 22 , robot controller 3 transmits a drive stop signal to motor M.
  • This configuration will prevent robot 2 connected to enable switch device 100 from unintentionally operating, and robot system 1 can be operated safely. Presence or absence and the type of failure in each of first to fourth switches SW 11 to SW 22 can be detected easily. As a result, replacement and repair of teaching pendant 4 including enable switch device 100 can be performed easily, and the down time and operation cost of robot system 1 can be reduced.
  • FIG. 9 schematically illustrates transition of the operated state of an enable switch device according to the present exemplary embodiment.
  • enable switch device 100 of the present exemplary embodiment is similar to that described in the third exemplary embodiment. That is, enable switch device 100 and a duplex circuit are included.
  • enable switch device 100 determines, when a predetermined transition time has elapsed after detection of transition of the state, that the operated state of enable switch device 100 has transitioned.
  • first state determination unit 12 and second state determination unit 22 determine, when transition time T 2 has elapsed after detection of transition of the state, that the operated state of enable switch device 100 has transitioned.
  • first state determination unit 12 and second state determination unit 22 determine, when transition time T 2 has elapsed after detection of transition of the state, that the operated state of enable switch device 100 has transitioned.
  • transition time T 2 may be the same as or different from transition time T 1 described in the second exemplary embodiment.
  • Enable switch device 100 of the present exemplary embodiment includes first to fourth switches SW 11 to SW 22 . Considering reaction times of first to fourth switches SW 11 to SW 22 , transition time T 2 is preferably longer than transition time T 1 .
  • first state determination unit 12 and second state determination unit 22 determine, immediately after detection of transition of the state, in this case, when transition time T 0 ( ⁇ T 1 , T 2 ) has elapsed, that the operated state of enable switch device 100 has transitioned.
  • the start timing of driving motor M can be delayed by transition time T 2 from the timing that is immediately after enable switch device 100 has entered into the mid-operated state. This will prevent robot 2 from starting an operation without being noticed by the operator, and safety of the operator can be secured.
  • enable switch device 100 that has transitioned from the mid-operated state to the full-operated state then transitions to the non-operated state.
  • determination that enable switch device 100 has changed from the full-operated state to the non-operated state is made after a delayed of transition time T 2 .
  • the timing of starting an operation of robot 2 by a subsequent mid-operation can be delayed, and safety of the operator can be enhanced.
  • first state determination unit 12 or second state determination unit 22 may finally determine the state of enable switch device 100 .
  • the state of enable switch device 100 may be finally determined by another determination unit (not illustrated) provided in enable switch device 100 .
  • enable switch device 100 and load drive control apparatus 200 of the present specification are preferably connected to robot 2 provided in the industrial machine to be used.
  • the enable switch device of the present disclosure can determine an operated state with a simple configuration and can detect failure in an internal two-position switch, and thus is useful to be used for industrial machines including a robot.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
US18/468,717 2021-06-03 2023-09-17 Enable switch device and load drive control apparatus equipped with same Active 2042-11-12 US12337465B2 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2021093409 2021-06-03
JP2021-093409 2021-06-03
PCT/JP2022/021056 WO2022255138A1 (ja) 2021-06-03 2022-05-23 イネーブルスイッチ装置及びこれを備えた負荷駆動制御装置

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